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INSTALLATION AND OPERATING INSTRUCTIONS:

Gripper, electric, GEP5000/GED5000 series

DDOC0021

1 / h

EN / 2020-08-15

Zimmer GmbH

•

Im Salmenkopf 5

•



77866 Rheinau, Germany

•



+49 7844 9138 0

•



+49 7844 9138 80

•

www.zimmer-group.com

NOTICE:

Not all faults can be reset. There are faults for which the error message is not reset after acknowledg-

ment. The user must wait until the correct values are sent to the gripper. For example: Overheating fault

case.

INFORMATION:

It is advisable to use the “StatusWord” to verify correct gripping!

The "TeachPosition" tolerance can be adjusted in another process parameter.

For sensing the correct position via the ACTUAL position, the tolerances and fluctuations of the value

must be observed during programming!

Name

"StatusWord"

Data format

UINT16

Permission

Read

Transfer

Cyclical

Value range

0 to 65535

8.4.8 "Diagnosis" parameter

The value returned in the "Diagnosis" parameter corresponds to the error code.

Refer to the “Error diagnosis” section

Name

"Diagnosis"

Data format

UINT16

Permission

Read

Transfer

Cyclical

Value range

0 to 65535

Содержание GEP5000IL Series

Страница 1: ...INSTALLATION AND OPERATING INSTRUCTIONS GEP5000IL GED5000IL series Gripper electric DDOC00211 THE KNOW HOW FACTORY www zimmer group com...

Страница 2: ...erance window for the TeachPosition BasePosition and WorkPosi tion The value of the parameter acts in both directions BasePosition The BasePosition is the outer JawPosition Depending on the gripper pr...

Страница 3: ...2 Movement profile of the travel of the gripper toward the BasePosition inside gripping 11 1 Installation 12 1 1 Safety notes 12 1 2 Installing the mechanical system 12 1 2 1 Installing the GEP5000 12...

Страница 4: ...GEP GED5000IO menu functions 32 1 2 GEP GED5000IO menu settings 32 1 2 1 Menu 1 Force setting 32 1 2 2 Menu 2 Width teach area 33 1 2 3 Menu 3 Gripper mode 33 1 2 4 Menu 4 Position teach area 33 1 3...

Страница 5: ...rly fitted used or maintained The gripper module is not used for its intended purpose Local regulations legislation ordinances guidelines such as the EC Machinery Directive acci dent prevention regula...

Страница 6: ...er use Use outside of the defined parameters is not permitted Unauthorized electrical or mechanical modifications must not be made The gripper is designed exclusively for electric operation using a su...

Страница 7: ...ause the components that are being gripped can no longer be securely gripped and transported 5 1 Possible applications Inside gripping The gripper can be used for inside grip ping Outside gripping The...

Страница 8: ...Despite its small installation space the gripper is suited for the gripping of a wide range of form fit and frictional fit parts Fig 1 Cutaway view of the GEP5000 series gripper Fig 2 Cutaway view of...

Страница 9: ...ustomer Service is available to provide you with assistance if you have any further questions 6 2 2 LED display for GEP GED5000IO gripper positions cl Power communication cm Error cn Position display...

Страница 10: ...mechanism INFORMATION The gripper has a mechanical self locking mechanism to ensure that the workpiece remains held by the gripper in the event of power supply loss or failure such as an emergency st...

Страница 11: ...ommended working stroke GEP GED5006IO IL 12 mm end position travel distance 8 60 mm GEP GED5008IO IL 16 mm end position travel distance 12 60 mm GEP GED5010IO IL 20 mm end position travel distance 16...

Страница 12: ...ing the mechanical system 7 2 1 Installing the GEP5000 The gripper must be installed on a mounting surface in accordance with the flatness specifications Length 100 mm permitted flatness imperfection...

Страница 13: ...ing screws Make sure the mounting surface is sufficiently rigid and flat Use an adapter plate as needed For information on adapter plates please refer to the accessories list avail able on our website...

Страница 14: ...White Actuator 24 V DC Actuator supply voltage 3 Blue GND sensor Sensor 0 V DC supply voltage 4 Black C Q IO Link communication 5 Gray GND actuator Actuator 0 V DC supply voltage The following steps...

Страница 15: ...Gripper dm Internal sensors gripper position sensing dn External control and programming unit The following steps must be carried out for commissioning or installing the digital gripper Connect the g...

Страница 16: ...perty damage Grounding the gripper attachment gripper jaws is recommended if ESD sensitive parts come into con tact with the gripper 7 5 Heat dissipation In the event of high ambient temperatures the...

Страница 17: ...when the corresponding signal is at a high level After a high level is detected the gripper movement occurs until the gripping process ends It is important to ensure that after a gripper movement has...

Страница 18: ...vement of the gripper fingers 8 1 3 Teaching in the end positions The end positions are confirmed by means of outputs PIN 2 WorkPosition and PIN 5 BasePosition The confirmations of the end positions a...

Страница 19: ...00IL IO Link 8 2 1 Process data The option exists for the gripper to be controlled only by the process data transmitted in each cycle Outputs Process data from the IO Link master to the gripper Name D...

Страница 20: ...ce and commissioning can be continued If bit 6 is active in the second byte a byte swap still has to be applied here For further information refer to the StatusWord section INFORMATION It is mandatory...

Страница 21: ...ission Write Transfer Cyclical Value range 0 to 65535 ControlWord structure Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Byte 1 Error Reset MoveToWork MoveToBase Bit 7 Bit 6 Bit 5 Bit 4 Bit 3...

Страница 22: ...select the travel mode from the following options universal operation outside gripping and inside gripping Input Mode Description 1 Universal mode Inside and outside gripping both movements at the sam...

Страница 23: ...at 13 50 mm and goes all the way up to 16 50 mm Name PositionTolerance Data format UINT8 Permission Write Transfer Cyclical Value range 1 to 255 8 4 5 GripForce parameter Since the gripper generates g...

Страница 24: ...Cyclical Value range 0 to max jaw stroke of the gripper 8 4 7 StatusWord parameter Bit 15 Bit 14 Bit 13 Bit 12 Bit 11 Bit 10 Bit 9 Bit 8 Byte 1 Error DataTrans ferOK Undefined Position WorkPosi tion T...

Страница 25: ...ault case INFORMATION It is advisable to use the StatusWord to verify correct gripping The TeachPosition tolerance can be adjusted in another process parameter For sensing the correct position via the...

Страница 26: ...alPosition parameter is used for detecting the workpiece then fluctuations around the exact value must be taken into consideration during commissioning 8 5 Cold boot For proper function we recommend t...

Страница 27: ...ntrolWord for initialization iStep 20 Jump to the next step END_IF 20 IF StatusWord 12 THEN Queries the DataTransferOK bit in the StatusWord ControlWord 0 Reset the initialization iStep 30 Jump to the...

Страница 28: ...process parameters WorkpieceNo 3 Recipe is to be stored as the third workpiece recipe PositionTolerance 50 GripForce 3 TeachPosition 500 iStep 20 Jump to the next step 20 ControlWord 1 Begins with th...

Страница 29: ...iStep OF 10 WorkpieceNo 3 Third workpiece recipe is to be loaded iStep 20 Jump to the next step 20 ControlWord 1 Begins with the handshake iStep 30 Jump to the next step 30 IF StatusWord 12 THEN Quer...

Страница 30: ...P GED5000IO menu structure Rest Betriebsdauer nicht belegt TeachPosition Position Greifer Modus TeachPosition Breite Krafteinstellung Hauptmen set 3 Sek set set 3 Sek Rest Betriebsdauer auf 30 Mio Zyk...

Страница 31: ...available to provide you with assistance if you have any further questions Main menu Press SET for 3 seconds The menu display LEDs will flash Edit mode Press SET again The parameter display LEDs will...

Страница 32: ...e time 3 Outside gripping Outward gripping with the desired gripping force Move inward at fast speed reduced cycle time Default value 1 If the gripping direction is defined the corresponding gripping...

Страница 33: ...refer to the technical data sheet for information on the gripper mode Zimmer Customer Service is available to provide you with assistance if you have any further questions 9 4 4 Menu 4 Position teach...

Страница 34: ...ation faulty 0x0201 SPI communication faulty 0x0300 ControlWord implausible Multiple bits were set in the ControlWord Only one bit may be set in the ControlWord 0x0301 Positions implausible Transmitte...

Страница 35: ...Gripper jaws are too tense Check the gripper s freedom of movement Error must be acknowledged 0x0401 Current limit exceeded 0x0402 Jam Gripper jaws are jammed Gripper jaws are too tense Check the gri...

Страница 36: ...er s freedom of movement Zimmer Customer Service 1 5 Motor has excess current in idle mode Internal error Zimmer Customer Service 1 5 Temperature of the motor output stage above the limit value Surrou...

Страница 37: ...freedom of movement Zimmer Customer Service 1 5 DIR signal 1 Nevertheless the gripper does not reach WorkPosition or TeachPosition Gripper is difficult to move Travel path of the gripper is impeded Re...

Страница 38: ...ce if you have any further ques tions Index Name Data format Access right Values Description 0x64 64 Status UINT 16 Read 0 to 65535 Reflection of the process data 0x41 65 Diagnosis UINT 16 Read 0 to 6...

Страница 39: ...he individual gripper Please refer to our website for information on corresponding accessories 15 Transportation storage preservation The transport and storage of the gripper must take place exclusive...

Страница 40: ...ents Michael Hoch See manufacturer s address Rheinau Germany 2020 02 03 Martin Zimmer First name last name Address Place and date of issuance Legally binding signature Managing Partner 18 REACH declar...

Страница 41: ...afety requirements No 1 1 2 No 1 1 3 No 1 1 5 No 1 3 1 No 1 3 2 No 1 3 4 No 1 3 7 No 1 5 1 No 1 5 3 No 1 5 4 No 1 6 4 No 1 7 1 No 1 7 3 DIN EN ISO 12100 2011 03 Safety of machinery General principles...

Страница 42: ...atibility Directive 2014 30 EU in its design and the version we put on the market The following harmonized standards have been used DIN EN ISO 12100 2011 03 Safety of machinery General principles for...

Страница 43: ...LLATION AND OPERATING INSTRUCTIONS Gripper electric GEP5000 GED5000 series 43 DDOC00211 h EN 2020 08 15 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer grou...

Страница 44: ...OC00211 h EN 2020 08 15 Zimmer GmbH Im Salmenkopf 5 77866 Rheinau Germany 49 7844 9138 0 49 7844 9138 80 www zimmer group com INSTALLATION AND OPERATING INSTRUCTIONS Gripper electric GEP5000 GED5000 s...

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